import rclpy
from rclpy.node import Node
from tf2_ros import TransformListener, Buffer
from tf_transformations import euler_from_quaternion


class TFListener(Node):
    def __init__(self):
        super().__init__("tf_listener")
        self.buffer = Buffer()
        self.listener = TransformListener(self.buffer, self)
        self.timer = self.create_timer(1.0, self.get_transform)

    def get_transform(self):
        try:
            tf = self.buffer.lookup_transform(
                'map', 'base_footprint',
                rclpy.time.Time(seconds=0), rclpy.time.Duration(seconds=1))
            transform = tf.transform
            rotation_euler = euler_from_quaternion([
                transform.rotation.x,
                transform.rotation.y,
                transform.rotation.z,
                transform.rotation.w])
            self.get_logger().info(
                f'平移：{transform.translation}, 旋转四元数：{transform.rotation}, 旋转欧拉角：{rotation_euler}')
        except Exception as e:
            self.get_logger().error(f'不能获取坐标变换，原因：{e}')


def main():
    rclpy.init()
    tf_listener = TFListener()
    rclpy.spin(tf_listener)
    rclpy.shutdown()
